Kaya navigate app: lidar_lattice and robot are not connected

Running the Kaya navigate application, the following error occurs:

2020-01-26 12:56:52.308 ERROR engine/alice/component.cpp@61: Component ‘navigation.local_map.local_map/isaac.navigation.LocalMap’ of type ‘isaac::navigation::LocalMap’ reported FAILURE:

lidar_lattice and robot are not connected

2020-01-26 12:56:52.308 ERROR engine/alice/backend/event_manager.cpp@40: Stopping node ‘navigation.local_map.local_map’ because it reached status ‘FAILURE’

Issue can be fixed by changing the start order of the local map so it would have time to get the frame transformation from the initial localization procedure.

Hey,

we have the same problem.
We are using a ros bridge to connect our ros based robot to isaac.
So far we’ve setup laser scans and odometry as well as PoseTree and tf sync.
The problem seems to result from that the robot to lidar transform is not available at startup, it gets set by the RosToPoses node that synchronizes our tf and PoseTree after startup.
Changing the start order didn’t help so far. Isn’t there any “wait for transform available” mechanism?

Edit:
After testing PoseInitializers setting robot2lidar transformation and also trying to hardcode the transformation directly in a constructor in engine/alice/components/PoseTree.cpp we get either this error:

2020-07-15 15:50:59.696 PANIC engine/alice/components/PoseTree.cpp@84: Cannot set the transformation lidar_lattice_T_lidar at time -1594820878.038986

or this:

2020-07-15 16:06:36.366 PANIC engine/alice/components/PoseTree.cpp@84: Cannot set the transformation robot_T_lidar at time 0.000000